Roll attitude correcting means, for tunneling machines

ABSTRACT

The method comprises holding only one of two relatively movable tunneling machine portions against movement and displacing the other portion about a tunneling machine boring axis, and then holding only the other portion and corresponding displacing the one portion. The means comprise linkage members mutually joined and in which each one thereof is individually coupled to one of the machine portions, and means operative for effecting relative movement between the members.

United States Patent Hamilton et al.

[54] ROLL ATTITUDE CORRECTING MEANS, FOR TUNNELING MACHINES [72]inventors: William H. Hamilton; Jack 0. Winsor, both of Seattle, Wash.

[73] Assignee: Lawrence Manufacturing Company,

Seattle, Wash.

[22] Filed: Feb. 3, 1971 21] Appl. No.: 112,259

[52] US. Cl ..299/3l,'299/l0 [51] Int. Cl ..E0lg 3/04 [58] Field ofSearch ..299/3 l, 10

[56] References Cited UNITED STATES PATENTS 3,203,737 8/1965 Robbins etal ..299/3l 3,295,892 1/1967 Winberg et al ..299/31 [451 Nov. 21, 19723,598,445 8/1971 Winberg ..299/3l 3,383,138 5/1968 Scaravilli et al...299/3l 3,584,918 6/1971 Gaglione ..299/3l Primary Examiner-Ernest R.Purser Attorney-Frank S. Troidl, David W. Tibbott and Bernard J. Murphy[5 7] ABSTRACT The method comprises holding only one of two relativelymovable tunneling machine portions against movement and displacing theother portion about a tunneling machine boring axis, and then holdingonly the other portion and corresponding displacing the one portion. Themeans comprise linkage members mutually joined and in which each onethereof is individually coupled to one of the machine portions, andmeans operative for effecting relative movement between the members.

18 Claims, 6 Drawing Figures PATENTEEI B 9 3.703.314

SHEET 2 or 2 as 87 30' L 2. 9o

2 I R as I x INVENTORS WILL/AM H. HAMILTON JACK 0. Wl/VSOR BY AGENT ROLLATTITUDE CORRECTING MEANS, FOR TUNNELING MACHINES This inventionpertains to a roll attitude correcting method, and means, for tunnelingmachines having a rotatable cutter mounted to a first portion of amachine which is coupled to a second machine portion, said portionsbeing relatively movable therebetween, and in particular to a method fordisplacing said portions relative to each other, sequentially, to effectthe warranted correction, and to means intercoupling said portionsoperative for relatively displacing said portions.

Tunneling machines typically tend to gradually precess in a directionopposite to the direction of cutter rotation and torque. Thisnecessitates a periodic correction of the machine roll attitude in thetunnel by any one of several time-consuming procedures now practiced inthe prior art.

It is an object of this invention to provide a method, and. means, foreffecting a roll correction, for a tunneling machine, of considerablemagnitude in a minimum of time.

It is another object of this invention to teach means for correcting theroll attitude of a tunneling machine which has a cutter rotatable abouta given axis and mounted to a first machine portion which is coupled toa second machine portion and in which said portions are relativelymovable therebetween, comprising means for intercoupling said first andsecond portions operative for displacing said members relative to eachother in a rotary direction about said axis; said coupling anddisplacing means including means operatively reactive from at least oneof said members to effect said rotary displacement.

Further, it is another object of this invention to teach a method ofcorrecting the rollattitude of a tunneling machine which has a cutterrotatable about a given axis and mounted to a first machine portionwhich is coupled to a second machine portion and in which said portionsare relatively movable therebetween comprising the steps of firstholding only one of said portions against movement and displacing otherof said portions relative to said one portion in a rotary motion aboutsaid axis; and then holding only said other portion against movement anddisplacing said one portion relative to said other portion in a rotarymotion about said axis.

A feature of this invention comprises a method of holding one of tworelatively movable machine portions against movement and displacing theother portion about the tunneling axis, and holding the other portionand displacing the one portion. The invention teaches means comprisinglinkage members mutually joined and in which each one thereof isindividually coupled to one of the machine portions, with means Yoperative for effecting relative movement between the members.

Further objects and features of this invention will become more apparentby reference to the following description taken in conjunction with theaccompanying figures in which:

FIG. 1 is a plan view of a tunneling machine having a torque linkagemembers which embody the invention;

FIG. 2 illustrates the torque linkage members of FIG. 1 in outline form,and shows how they fold with cutter advance;

FIG. 3 is a rear elevation view of the torque linkage members and thepivot pin assembly which couples the members together;

FIG. 4 is an axial cross-sectional view of the pivot pin assembly ofFIG. 3;

FIG. 5 schematically illustrates the pressured fluid supply means andvalving for enabling operation of the invention; and

FIG. 6 is a fragmentary view of an alternate embodiment of a pivot pinassembly, according to the invention, shown in cross-section. I

As shown in FIG. 1 a tunneling machine 10, including a pilot cutter 12,has a main cutterhead 14, and a cutterhead gearbox 16, and is, thus far,typical of what is known from tunneling machines in the prior art. Thegearbox 16 provides rotary power for the cutterhead l4, and gearbox 16and cutterhead 14 are advanced together, the cutter head being addressedto the face of the tunnel bore. The gearbox 16 has coupled theretoauxiliary jacks l8 operative for locking the gearbox 16 against movementby engaging the tunnel wall during re-cycling, or when otherwise neededfor stability while not boring.

The machine further comprises a rib jack supporting frame 20 to whichare coupled rib jack pads 22; these latter are operative for lockingframe 20 against movement through engagement thereof with the tunnelwall. Fluid-power cylinders 24 arecoupled to the gearbox 16, by a thrusttube 25, through frame 20, and are operative for advancing the gearbox16 and cutterhead 14, while fluid-powered cylinders 26 and 28,respectively, actuate the rib jack pads 22 and auxiliary jacks 18.

The tunneling machine 10, shown, to facilitate an understanding of theinvention, comprises an extendable anchor assembly A which defines apivot point about which the machine is steered. An anchor tube 27extends axially of the machine from assembly A to a rear trunnion RT.Steering of the machine is accomplished by vertical displacement of tube27 by a vertical steering trunnion VT and/or horizontal displacement ofthe tube 27 by the cylinders 26. Machine thrust is transmitted from thecylinders 24 through the thrust tube 25 to the gearbox 16 and cutterhead14. The thrust is reacted on a thrust reactor assembly 29 either throughtension rods R to the rib jack pads 22 to the tunnel wall, or throughthe anchor tube 27 to the extended (anchored) anchor assembly A and tothe wall of the pilot bore.

Between gearbox 16 and frame 20 there are disposed torque reactionlinkage members 30 and 32. As shown in FIGS. 1 and 2 the linkage membersare pivotally coupled together at 34 and the opposite ends of themembers are pivotally coupled, at 36 and 38 to the gearbox 16 and frame20, respectively. The purpose of members 30 and 32 is to communicate therotary torque generated by the rotary cutterhead 14 to frame 20 which islocked to the walls of the tunnel.

In accordance with the teaching of this disclosure the members 30 and 32are pivotally coupled together by means of a novel pivot pin assembly40. In this embodiment of the invention, two linkage member assembliesand two pivot pin assemblies are arranged to either sides of thetunneling machine 10. Accordingly, one pivot pin assembly on theright-hand side of the machine is denoted by the index number 40 and onepivot pin assembly on the left-hand side of the machine is denoted bythe index number 40a. Both assemblies are substantially identical,except that one is turned 180 from the other. Linkage member 30 definesa yoke 42, shown in FIG. 4, which has limbs or bifurcations 44 and 44';these limbs or bifurcations have bores 46 formed therein. Each bore hasa liner 48; in these liners are received the ends 50 and 52 of a pivotpin 54. Cover plates 56 close one end of each of the bores 46 andcooperate with the pin 54 and the bores 46 to define therewithinvariable volume chambers 58 and 58a. Each of the plates 56 has a fluidaccess bore 60 formed therein for admitting pressured fluid intochambers 58 and 58a.

Linkage member 32, which defines a pintle, has a bore 62 formed thereinin which an intermediate portion of pin 54 is confined. The bore 62 ofmember 32 has a recess 64 formed therein which cooperates with a recess66 formed in pin 54 to nest a ball-type bearing 68 therebetween. Therecesses 64 and 66 and bearing 68, together with a bearing retainer 69fixed at one end of bore 62, cooperate to prevent axial movement of pin54 within linkage member 32, yet accommodates for an angulardisplacement between members 30 and 32. Pin 54 has two annular shoulders70 integral therewith and extending therefrom which are disposed toengage the limbs 44 and 44' of yoke 42 to delimit the fluidpowered pinmovement of the limbs 44 or 44 relative to member 32, and vice versa.Cup-type seals 72 envelope the inner walls of chambers 58 and 58a toprevent the leakage of fluid from the chambers.

In FIG. is shown a schematic diagram of the fluid supply and valvingsystem by means of which the novel invention is enabled. A source ofpressured fluid 74 is communicated with a manual reversing valve 76which has three distinct sections: conducting sections 76a and 76b, andintermediate closed section 760. Source 74 communicates with valve 76 bymeans of a supply line 78, the fluid being conducted through the valvesection 764 to a branched line 80. Branched line 80 communicates withline branches 82 and 84, in one positioning of valve 76, to supplypressured fluid to chambers 58 of each of the pivot pin assemblies 40and 40a. A fluid reservoir 86 is through-connected with chambers 58a,via line branches 82 and 84' and branched line 80', in

this one positioning of valve 76, to evacuate fluid from chambers 58a.Accordingly, when pressured fluid is admitted to the chambers 58, whichare in 180 relationship, a cumulative effect results therefrom in whichone or the other tunneling machine portion is rotated; i.e., the portionconstituting gearbox 16, or the frame 20 portion. For example, if ribjack pads 22 are locked against the walls of the tunnel, and auxiliaryjacks 18 are retracted from the tunnel walls, and pressured fluid isadmitted to chambers 58, then gearbox 16 will rotate about the axis ofthe tunnel a distance represented by the letter Z in FIG. 4. Conversely,to effect a corresponding correction of the roll attitude of frame 20,it is necessary only to retract rib jack pads 22 from the wall of thetunnel, engage jacks 18 with the wall of the tunnel, to lock the gearbox16 thereto, and then address pressured fluid to both of the chambers58a. This latter step is accomplished by putting valve 76 in the otherpositioning to admit pressured fluid, via

section 76b, to line Accordingly, the pivot pin assemblies 40 and 40awill effect a corresponding, roll correction of frame 20.

The embodiment of the pivot pin assembly 40 shown in FIG. 4 is onepreferred structure. Other structures will occur to those skilled in theart taking a teaching from our invention. For instance, as illustratedin FIG. 6, an alternate embodiment of a pivot pin assembly 40' can beconfigured in which the annular shoulders 70 are dispensed with, and thecup-type seals 72 are not used. Instead a pivot pin 54a can be usedwhich is disposed between a pair of floating pistons 87 which have aplurality of annular recesses or grooves 88 formed thereabout and inwhich are disposed seal rings 90 for fluid sealing of chambers 58 and58a.

In the FIG. 4 embodiment, and in the operative positioning shown, apartial roll attitude correction of the machine 10 has been made asfollows. Valve 76 was positioned to dispose section 76b in operation.Thus, chamber 58a was pressured and chamber 58 was evacuated. Assumingrib jack pads 22 to have been locked to the tunnel wall and jacks 18retracted, gearbox 16 was rotated the Z distance. Cover plate 56, andthe pressured chamber 58a reacted from the locked-in-place pin 54 andcaused movement of limb or bifurcation 44' to move away from member 32.Consequently, bifurcation 44 moved toward member 32 until it engaged theannular shoulder 70. To complete the roll attitude correction then, kindof complementary procedure is followed, to wit: rib jack pads 22 areretracted from the tunnel wall and jacks 18 are locked to the wall. Thenvalve section 76a is made operative, to pressure chambers 58 andevacuate chambers 58a. Now, pin 54 reacts from pressured andlocked-inplace chamber 58 to cause member 32 to move away frombifurcation 44 and toward bifurcation 44' until the latter is engaged byshoulder 70.

The embodiment of FIG. 6 depicts an operative positioning in which theadmittance of fluid into chamber 58 has caused member 30' to movedownwardly (relative to the illustration), presuming member 32 to havebeen anchored in place via jacks 22, or has caused pin 54a to moveupwardly, presuming member 30' to have been anchored in place (via jacks18). In this embodiment, the travel of the floating pistons (only one ofwhich is shown) limits the amount of roll correction movement.

The dashed-line and angular positionings shown in FIG. 3 represents ifto some exaggeration, for purposes of visual aid the provisioning madefor an angular displacement, between members 32 and 30, by the ball-typebearing 68. Such angular displacement arises from the disparity betweenthe members 32 and 30 when either the gearbox 16 or the frame 20 isrotated, about the tunnelers axis 92 to commence the roll correction.Normally, members 32 and 30 are in alignment with the axis 92 of themachine, but when (for instance) the frame 20 is first roll-corrected,with the gearbox 16 locked to the tunnel wall, an angular displacementA-D occurs between members 32 and 30. Member 30, for being coupled tothe gearbox 16, retains an alignment with axis 92; member 32, however,for being coupled to the roll-corrected frame 20, is displaced fromaxial alignment. Subsequent rollcorrection of the gearbox l6 conformsboth members 32 and 30, again, to alignment with axis 92. Absentball-type bearing 68, or some such similar structuring, this angulardisplacement could not be accommodated.

While we have described our invention in connection with specificembodiments thereof it is to be clearly understood that this is doneonly by way of example and not as a limitation to the scope of ourinvention as set forth in the objects thereof and in the accompanyingclaims.

We claim: 1. A tunneling machine, comprising: first means for cuttingrelatively unyielding material; second means coupled to said cuttingmeans operative for rotating said cutting means; third means coupled tosaid cutting means operative for forceably advancing said cutting meansinto said material; and fourth means intercoupling said third means andat least one of said first and second means operative for effectingrelative rotation between said third and said one means; wherein saidfourth means comprises means for receiving rotary torque reaction forcesfrom said one means and transmitting said forces to said third means;and said fourth means further comprises a plurality of doubled-endedlinkage members, one half of the members of said plurality each beingpivotally mounted at one end thereof to said advancing means, the otherhalf of the plurality of members each being pivotally mounted at one endthereof to said one means; and further including means pivotally joiningthe other end of each one of said members of said one half with an otherend of one of said members of said other half. 2. A tunneling machine,comprising: first means for cutting relatively unyielding material;second means coupled to said cutting means operative for rotating saidcutting means; third means coupled to said cutting means operative forforceably advancing said cutting means into said material; and fourthmeans intercoupling said third means and at least one of said first andsecond means operative for effecting relative rotation between saidthird and said one means; wherein said fourth means comprises means forreceiving rotary torque reaction forces from said one means andtransmitting said forces to said third means; and said fourth meansintercouples said advancing means and said rotating means, and comprisesat least a first linkage member pivotally mounted at one end thereof tosaid advancing means, at least a second linkage member pivotally mountedat one end thereof to said rotating means, and means pivotally joiningsaid first and second linkage members at the other ends thereof. 3. Atunneling machine, according to claim 2, wherein:

said joining means comprises a pivot pin assembly in penetration of saidother ends of said linkage members. 4. A tunneling machine, according toclaim 3, wherein:

one of said other ends defines a yoke having bifurcations, and the otherof said other ends defines a pintle, said pintle is positioned betweensaid bifurcations, and said pivot pin assembly is in penetration of saidbifurcations and said pintle. 5. A tunneling machine, according to claim4, wherein:

said pivot pin assembly includes a pivot pin having a longitudinal axis;said pivot pin has an intermediate portion confined in said pintle andopposite ends thereof confined in said yoke. 6. A tunneling machine,according to claim 5, wherein:

said intermediate portion is secured in said pintle in a mannerpreventing relative movement, along said axis, between said intermediateportion and said pintle. 7. A tunneling machine, according to claim 5,wherein:

said pivot pin assembly further includes means disposed in said pintlesecuring said intermediate portion therewithin and preventing relativemovement along said axis between said intermediate portion and saidpintle. 8. A tunneling machine, according to claim 5, wherein:

said pivot pin assembly further includes means accommodating for rotarymovement about said axis between said linkage members. 9. A tunnelingmachine, according to 1 claim 5, wherein:

said pivot pin assembly further includes means accommodating for angulardisplacement, between said linkage members, about a point located onsaid intermediate portion. 10. A tunneling machine, according to claim9, wherein:

said angular displacement means comprises a balltype bearing interposedbetween said pivot pin and said pintle. 11. A tunneling machine,according to claim 5, wherein:

said pintle has a bore formed therein in which said pivot pin isdisposed, and said bore has a recess formed therein at one end thereof;said pivot pin has a recess formed therein which is juxtaposed with therecess in said bore; and further including a ball-type bearing nested insaid recesses; and a bearing retainer fixed to said one end of saidbore; said bearing, recesses, and retainer being cooperative to preventrelative movement, along said axis, between said intermediate portionand said pintle. 12. A tunneling machine, according to claim 5, wherein:

the bifurcations of said yoke each have a bore formed therein, the twobores being axially in line with each other and slidably receive saidopposite ends of said pivot pin therein; said bores each having meansfixed at one end thereof for closing off said bores thereat; oppositeterminations of said pivot pin, said bores, and said closing means arecooperative to define variable-volume chambers therewithin.

13. A tunneling machine, according to claim 12, further comprising:

means selectively operative for supplying pressured fluid to, and forexhausting fluid from, said chambers to effect movement between saidyoke and pintle; and means disposed between said pivot pin and saidpintle preventing relative movement, along said axis, between said pinand said pintle. 14. A tunneling machine, according to claim 13, furthercomprising:

means confined within said chambers for sealing said chambers againstleakage of fluid therefrom. 15. A tunneling machine, according to claim14, wherein:

said sealing means comprise annular seals interposed between saidopposite ends and said chambers. 16. A tunneling machine, according toclaim 5, wherein:

said pivot pin has means, extending perpendicularly from thelongitudinal axis thereof, and spaced therebetween to either sides ofsaid intermediate portion, for engaging surfaces of said yoke to delimitsaid relative rotation. I 17. A tunneling machine, according to claim16, wherein:

said delimit means comprise a pair of annular shoulders extending fromsaid pivot pin.

18. Roll attitude correcting means, for a tunneling machine having firstmeans for cutting relatively unyielding material, second means coupledto said cutting means operative for rotating said cutting means about anaxis, and third means coupled to said cutting means operative forforceably advancing said cutting means into said material, saidcorrecting means comprising:

means for intercoupling said third means and at least one of said firstand second means operative for effecting relative rotation, about saidaxis, between said third and said one means; wherein said intercouplingmeans comprises means for receiving rotary torque reaction forces fromsaid one means and transmitting said forces to said third means; andsaid intercoupling means further comprises at least a first linkagemember for pivotal mounting at one end thereof to said one means, atleast a second linkage member for pivotal mounting at one end thereof tosaid third means, and means pivotally joining said first and secondlinkage members at the other ends thereof.

1. A tunneling machine, comprising: first means for cutting relativelyunyielding material; second means coupled to said cutting meansoperative for rotating said cutting means; third means coupled to saidcutting means operative for forceably advancing said cutting means intosaid material; and fourth means intercoupling said third means and atleast one of said first and second means operative for effectingrelative rotation between said third and said one means; wherein saidfourth means comprises means for receiving rotary torque reaction forcesfrom said one means and transmitting said forces to said third means;and said fourth means further comprises a plurality of doubled-endedlinkage members, one half of the members of said plurality each beingpivotally mounted at one end thereof to said advancing means, the otherhalf of the plurality of members each being pIvotally mounted at one endthereof to said one means; and further including means pivotally joiningthe other end of each one of said members of said one half with an otherend of one of said members of said other half.
 1. A tunneling machine,comprising: first means for cutting relatively unyielding material;second means coupled to said cutting means operative for rotating saidcutting means; third means coupled to said cutting means operative forforceably advancing said cutting means into said material; and fourthmeans intercoupling said third means and at least one of said first andsecond means operative for effecting relative rotation between saidthird and said one means; wherein said fourth means comprises means forreceiving rotary torque reaction forces from said one means andtransmitting said forces to said third means; and said fourth meansfurther comprises a plurality of doubled-ended linkage members, one halfof the members of said plurality each being pivotally mounted at one endthereof to said advancing means, the other half of the plurality ofmembers each being pIvotally mounted at one end thereof to said onemeans; and further including means pivotally joining the other end ofeach one of said members of said one half with an other end of one ofsaid members of said other half.
 2. A tunneling machine, comprising:first means for cutting relatively unyielding material; second meanscoupled to said cutting means operative for rotating said cutting means;third means coupled to said cutting means operative for forceablyadvancing said cutting means into said material; and fourth meansintercoupling said third means and at least one of said first and secondmeans operative for effecting relative rotation between said third andsaid one means; wherein said fourth means comprises means for receivingrotary torque reaction forces from said one means and transmitting saidforces to said third means; and said fourth means intercouples saidadvancing means and said rotating means, and comprises at least a firstlinkage member pivotally mounted at one end thereof to said advancingmeans, at least a second linkage member pivotally mounted at one endthereof to said rotating means, and means pivotally joining said firstand second linkage members at the other ends thereof.
 3. A tunnelingmachine, according to claim 2, wherein: said joining means comprises apivot pin assembly in penetration of said other ends of said linkagemembers.
 4. A tunneling machine, according to claim 3, wherein: one ofsaid other ends defines a yoke having bifurcations, and the other ofsaid other ends defines a pintle, said pintle is positioned between saidbifurcations, and said pivot pin assembly is in penetration of saidbifurcations and said pintle.
 5. A tunneling machine, according to claim4, wherein: said pivot pin assembly includes a pivot pin having alongitudinal axis; said pivot pin has an intermediate portion confinedin said pintle and opposite ends thereof confined in said yoke.
 6. Atunneling machine, according to claim 5, wherein: said intermediateportion is secured in said pintle in a manner preventing relativemovement, along said axis, between said intermediate portion and saidpintle.
 7. A tunneling machine, according to claim 5, wherein: saidpivot pin assembly further includes means disposed in said pintlesecuring said intermediate portion therewithin and preventing relativemovement along said axis between said intermediate portion and saidpintle.
 8. A tunneling machine, according to claim 5, wherein: saidpivot pin assembly further includes means accommodating for rotarymovement about said axis between said linkage members.
 9. A tunnelingmachine, according to claim 5, wherein: said pivot pin assembly furtherincludes means accommodating for angular displacement, between saidlinkage members, about a point located on said intermediate portion. 10.A tunneling machine, according to claim 9, wherein: said angulardisplacement means comprises a ball-type bearing interposed between saidpivot pin and said pintle.
 11. A tunneling machine, according to claim5, wherein: said pintle has a bore formed therein in which said pivotpin is disposed, and said bore has a recess formed therein at one endthereof; said pivot pin has a recess formed therein which is juxtaposedwith the recess in said bore; and further including a ball-type bearingnested in said recesses; and a bearing retainer fixed to said one end ofsaid bore; said bearing, recesses, and retainer being cooperative toprevent relative movement, along said axis, between said intermediateportion and said pintle.
 12. A tunneling machine, according to claim 5,wherein: the bifurcations of said yoke each have a bore formed therein,the two bores being axially in line with each other and slidably receivesaid opposite ends of said pivot pin therein; said bores each havingmeans fixed at one end thereof for closing off said bores thereat;opposIte terminations of said pivot pin, said bores, and said closingmeans are cooperative to define variable-volume chambers therewithin.13. A tunneling machine, according to claim 12, further comprising:means selectively operative for supplying pressured fluid to, and forexhausting fluid from, said chambers to effect movement between saidyoke and pintle; and means disposed between said pivot pin and saidpintle preventing relative movement, along said axis, between said pinand said pintle.
 14. A tunneling machine, according to claim 13, furthercomprising: means confined within said chambers for sealing saidchambers against leakage of fluid therefrom.
 15. A tunneling machine,according to claim 14, wherein: said sealing means comprise annularseals interposed between said opposite ends and said chambers.
 16. Atunneling machine, according to claim 5, wherein: said pivot pin hasmeans, extending perpendicularly from the longitudinal axis thereof, andspaced therebetween to either sides of said intermediate portion, forengaging surfaces of said yoke to delimit said relative rotation.
 17. Atunneling machine, according to claim 16, wherein: said delimit meanscomprise a pair of annular shoulders extending from said pivot pin.